Sliding mode control of robotic arms with deadzone

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Abstract

© 2016 The Institution of Engineering and Technology. In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.
Original languageAmerican English
Pages (from-to)1214-1221
Number of pages8
JournalIET Control Theory and Applications
DOIs
StatePublished - 12 May 2017

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